Steering wheels having an adjustable coefficient of friction

ABSTRACT

A vehicle system including one or more sensors, a steering wheel including a rim and an adjusting mechanism for adjusting a coefficient of friction between a surface of the rim and a driver&#39;s hand, and a controller configured to determine whether a deviation factor between a target path and an actual path based on the one or more sensors exceeds a threshold deviation, send a first signal to the adjusting mechanism for operating to a first state in response to determining that the deviation factor exceeds the threshold deviation, the coefficient of friction being decreased when the adjusting mechanism is in the first state, and send a second signal to the adjusting mechanism for operating to a second state in response to determining that the deviation factor does not exceed the threshold deviation, the coefficient of friction being increased when the adjusting mechanism is in the second state.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.17/194,695, filed Mar. 8, 2021, which is hereby incorporated byreference in its entirety.

TECHNICAL FIELD

The present specification generally relates to steering wheels andsystems for adjusting a coefficient of friction at a surface of asteering wheel and, more specifically, steering wheels and systems foradjusting a coefficient of friction at a surface of a steering wheel toallow the vehicle to intervene a driver's control without harming ordistracting the driver.

BACKGROUND

Vehicles may be equipped with various driver assist devices to ensurethat a vehicle maintains a driving path along a particular route. Suchdriver assist devices may include devices for increasing torque to asteering wheel to guide the vehicle such as, for example, away fromanother vehicle or toward a center of a driving lane. However, it may bedistracting to the driver of the vehicle to feel the steering wheelbeing pulled in a direction against the will of the driver. Further,this may interfere with a driver's intended driving routine such as, forexample, when the driver intends to change lanes and the driver assistdevice applies resistance in an opposite direction.

Accordingly, a need exists for improved systems for allowing a vehicleto intervene with a driver's control of a steering wheel to adjust adriving operation of the vehicle without harming or distracting thedriver.

SUMMARY

In one embodiment, a vehicle system includes one or more sensors, asteering wheel including a rim and an adjusting mechanism for adjustinga coefficient of friction between a surface of the rim and a driver'shand, and a controller configured to determine whether a deviationfactor between a target driving path and an actual driving path of avehicle during a driving segment exceeds a threshold deviation based onthe one or more sensors, and operate the adjusting mechanism of thesteering wheel of the vehicle to a first state in response todetermining that the deviation factor exceeds the threshold deviation,thereby decreasing the coefficient of friction between the surface ofthe rim of the steering wheel and the driver's hand.

In another embodiment, a vehicle system includes a steering wheelincluding a rim and an adjusting mechanism for adjusting a coefficientof friction between a surface of the rim and a driver's hand, and acontroller configured to send a first signal to the adjusting mechanismfor operating the adjusting mechanism to a first state, and send asecond signal to the adjusting mechanism for operating the adjustingmechanism to a second state, wherein the coefficient of friction when inthe second state is greater than the coefficient of friction when in thefirst state.

In yet another embodiment, a method includes determining whether adeviation factor between a target driving path and an actual drivingpath of a vehicle during a driving segment exceeds a thresholddeviation, and operating an adjusting mechanism of a steering wheel ofthe vehicle to a first state in response to determining that thedeviation factor exceeds the threshold deviation, thereby decreasing acoefficient of friction between a surface of a rim of the steering wheeland a driver's hand.

These and additional features provided by the embodiments describedherein will be more fully understood in view of the following detaileddescription, in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments set forth in the drawings are illustrative and exemplaryin nature and not intended to limit the subject matter defined by theclaims. The following detailed description of the illustrativeembodiments can be understood when read in conjunction with thefollowing drawings, where like structure is indicated with likereference numerals and in which:

FIG. 1 schematically depicts a vehicle including a steering wheel and avehicle system according to one or more embodiments shown and describedherein;

FIG. 2 schematically depicts a front view of an embodiment of a steeringwheel of the vehicle according to one or more embodiments shown anddescribed herein;

FIG. 3 schematically depicts a partial front view of an embodiment of asteering wheel of the vehicle according to one or more embodiments shownand described herein;

FIG. 4 schematically depicts a partial front view of an embodiment of asteering wheel of the vehicle according to one or more embodiments shownand described herein;

FIG. 5 schematically depicts a partial front view of an embodiment of asteering wheel of the vehicle according to one or more embodiments shownand described herein;

FIG. 6 schematically depicts a partial front view of an embodiment of asteering wheel of the vehicle according to one or more embodiments shownand described herein;

FIG. 7 schematically depicts a partial top view of the steering wheel ofFIG. 6 according to one or more embodiments shown and described herein;

FIG. 8 schematically depicts a front view of an embodiment of a steeringwheel of the vehicle according to one or more embodiments shown anddescribed herein;

FIG. 9 schematically depicts a partial front view of an embodiment of asteering wheel of the vehicle according to one or more embodiments shownand described herein;

FIG. 10 schematically depicts a plan view of the vehicle performing alane change operation with another vehicle in the adjacent laneaccording to one or more embodiments shown and described herein;

FIG. 11 schematically depicts a plan view of the vehicle performing alane change operation with no vehicle in the adjacent lane according toone or more embodiments shown and described herein;

FIG. 12 schematically depicts a plan view of the vehicle driving on aroadway at various positions according to one or more embodiments shownand described herein; and

FIG. 13 schematically depicts a flowchart of a method for operating thesteering wheel according to one or more embodiments shown and describedherein.

DETAILED DESCRIPTION

Embodiments described herein are directed to steering wheels, vehiclesystems, and methods for operating a steering wheel to adjust acoefficient of friction between a surface of the steering wheel and adriver's hands. The vehicle systems includes one or more sensors, asteering wheel, and a controller configured to adjust a coefficient offriction at a surface of the steering wheel based on a deviation factorbetween a target path and an actual path of the vehicle. As such, whenthe vehicle performs an intervening operation or an augmenting operationto adjust a steering direction of the steering wheel, resistance by thedriver gripping the steering wheel may be increased or decreased asnecessary to allow the intervening operation or augmenting operation.

Various embodiments of the vehicle systems, steering wheels, and methodsof operation are described in more detail herein. Whenever possible, thesame reference numerals will be used throughout the drawings to refer tothe same or like parts.

Referring now to FIG. 1, a vehicle 100 is illustrated according to oneor more embodiments described herein. The vehicle 100 may be anautomobile or any other passenger or non-passenger vehicle such as, forexample, a terrestrial, aquatic, and/or airborne vehicle including, butnot limited, a bus, a scooter, a drone, and a bicycle. In someembodiments, the vehicle 100 may be an autonomous vehicle that navigatesits environment with limited human input or without human input.

The vehicle 100 may generally include a steering wheel 102 forcontrolling a driving direction of the vehicle 100, and a vehicle system104 for controlling adjustment of a coefficient of friction at a surfaceof the steering wheel 102 based on environment data received from one ormore components of the vehicle system 104. As used herein, the term“coefficient of friction” refers to a ratio between the force necessaryto move a driver's hand over the surface of the steering wheel 102,which the driver grips while driving. It should be appreciated that byadjusting the coefficient of friction at the steering wheel 102, theamount of control a driver has on the steering wheel 102 may beadjusted. For example, an increase in the coefficient of friction at thesteering wheel 102 increases the driver's control of the steering wheel102. Alternatively, a decrease in the coefficient of friction at thesteering wheel 102 reduces the amount of control the driver has on thesteering wheel 102 by allowing the steering wheel 102 to more easilymove within the driver's grip. As discussed in more detail herein, whenthe coefficient of friction is decreased, the steering wheel 102 may beautomatically rotated toward a correct direction with reduced resistanceby the driver. As used herein, a correct driving operation and anincorrect driving operation refers to the vehicle 100 following a targetpath determined by the vehicle system 104 or avoiding an obstacle. Thesteering wheel 102 includes a rim 103, which the driver of the vehicle100 grips to facilitate turning of the steering wheel 102 andcontrolling a driving direction of the vehicle 100 along an actual path.

As noted above, the vehicle 100 may be capable of automaticallyadjusting a steering direction of the steering wheel 102. Inembodiments, the steering wheel 102 may include an actuator 121 thatprovides a torque control (e.g., rotation of the steering wheel 102). Ina non-limiting example, in instances in which the driver rotates thesteering wheel 102 in an incorrect direction, the actuator 121 mayperform an “intervening” operation to rotate the steering wheel 102 inthe opposite, correct direction. As described in more detail herein, adecrease in the coefficient of friction at the steering wheel 102 duringrotation of the steering wheel 102 in the incorrect direction by theactuator 121 may result in an increased likelihood of the torque in theopposite, correct direction being accepted by the driver with lessresistance. In another non-limiting example, in instances in which thedriver rotates the steering wheel 102 in a correct direction, but notenough, the actuator 121 may perform an “augment” operation to applyadditional torque to rotate the steering wheel 102 further in thecorrect direction. As described in more detail herein, an increase inthe coefficient of friction at the steering wheel 102 during rotation ofthe steering wheel 102 in the correct direction may result in anincreased likelihood of the torque in the correct direction beingaccepted by the driver.

As a non-limiting example, an increase in the coefficient of friction atthe steering wheel 102 may indicate that the driver is performing acorrect driving operation. Similarly, a decrease in the coefficient offriction at the steering wheel 102 may indicate that the driver isperforming an incorrect driving operation and correction is required tosteer the vehicle 100 along the target path. As discussed herein,operating parameters, such as in what instances the coefficient offriction at the steering wheel 102 will increase or decrease may beselected by a driver of the vehicle 100.

Referring still to FIG. 1, the vehicle system 104 of the vehicle 100 isshown including a controller 106 including one or more processors 108and one or more memory modules 110. Each of the one or more processors108 may be any device capable of executing machine readable andexecutable instructions. Accordingly, each of the one or more processors108 may be a controller, an integrated circuit, a microchip, a computer,or any other computing device. The one or more processors 108 arecoupled to a communication path 112 that provides signalinterconnectivity between various modules of the vehicle system 104.Accordingly, the communication path 112 may communicatively couple anynumber of processors 108 with one another, and allow the modules coupledto the communication path 112 to operate in a distributed computingenvironment. Specifically, each of the modules may operate as a nodethat may send and/or receive data. As used herein, the term“communicatively coupled” means that coupled components are capable ofexchanging data signals with one another such as, for example,electrical signals via conductive medium, electromagnetic signals viaair, optical signals via optical waveguides, and the like.

Accordingly, the communication path 112 may be formed from any mediumthat is capable of transmitting a signal such as, for example,conductive wires, conductive traces, optical waveguides, or the like. Insome embodiments, the communication path 112 may facilitate thetransmission of wireless signals, such as WiFi, Bluetooth®, Near FieldCommunication (NFC) and the like. Moreover, the communication path 112may be formed from a combination of mediums capable of transmittingsignals. In one embodiment, the communication path 112 comprises acombination of conductive traces, conductive wires, connectors, andbuses that cooperate to permit the transmission of electrical datasignals to components such as processors, memories, sensors, inputdevices, output devices, and communication devices. Accordingly, thecommunication path 112 may comprise a vehicle bus, such as for example aLIN bus, a CAN bus, a VAN bus, and the like. Additionally, it is notedthat the term “signal” means a waveform (e.g., electrical, optical,magnetic, mechanical or electromagnetic), such as DC, AC,sinusoidal-wave, triangular-wave, square-wave, vibration, and the like,capable of traveling through a medium.

As noted above, the vehicle system 104 includes one or more memorymodules 110 coupled to the communication path 112. The one or morememory modules 110 may comprise RAM, ROM, flash memories, hard drives,or any device capable of storing machine readable and executableinstructions such that the machine readable and executable instructionscan be accessed by the one or more processors 108. The machine readableand executable instructions may comprise logic or algorithm(s) writtenin any programming language of any generation (e.g., 1GL, 2GL, 3GL, 4GL,or 5GL) such as, for example, machine language that may be directlyexecuted by the processor, or assembly language, object-orientedprogramming (OOP), scripting languages, microcode, etc., that may becompiled or assembled into machine readable and executable instructionsand stored on the one or more memory modules 110. Alternatively, themachine readable and executable instructions may be written in ahardware description language (HDL), such as logic implemented viaeither a field-programmable gate array (FPGA) configuration or anapplication-specific integrated circuit (ASIC), or their equivalents.Accordingly, the methods described herein may be implemented in anyconventional computer programming language, as pre-programmed hardwareelements, or as a combination of hardware and software components.

Still referring to FIG. 1, in embodiments, the vehicle system 104includes network interface hardware 114. The network interface hardware114 can be communicatively coupled to the communication path 112 and canbe any device capable of receiving and transmitting data via a network.Accordingly, the network interface hardware 114 can include acommunication transceiver for sending and/or receiving any wired orwireless communication. For example, the network interface hardware 114may include an antenna, a modem, LAN port, Wi-Fi card, WiMax card,mobile communications hardware, near-field communication hardware,satellite communication hardware and/or any wired or wireless hardwarefor communicating with other networks and/or devices. In one embodiment,the network interface hardware 114 includes hardware configured tooperate in accordance with the Bluetooth® wireless communicationprotocol. For example, the network interface hardware 114 of the vehiclesystem 104 may receive environment data including navigationinstructions and road data such as, for example, lane data, roadcurvature data, traffic data, and the like. As described herein, thisenvironment data may be used to determine a target path along which thevehicle 100 should be driving or an obstacle that should be avoided.

In embodiments, the vehicle system 104 includes a location sensor 116communicatively coupled to the other components of the vehicle system104 via the communication path 112. The location sensor 116 may be, forexample, a GPS module, configured to collect location data indicating alocation of the vehicle 100. The location sensor 116 is configured todetermine an actual path of the vehicle 100 while driving. Additionally,location data collected by the location sensor 116 is used to determinea deviation factor, i.e., how much the actual path of the vehicle 100deviates from the target path.

Referring still to FIG. 1, the vehicle system 104 may include one ormore sensors 118 such as, for example, a camera. In some embodiments,the one or more sensors 118 may include one or more optical components,such as a mirror, fish-eye lens, or any other type of lens. In someembodiments, the sensors 118 are configured to operate in the visualand/or infrared spectrum to sense visual and/or infrared light.Additionally, while the particular embodiments described herein aredescribed with respect to hardware for sensing light in the visualand/or infrared spectrum, it is to be understood that other types ofsensors are contemplated. For example, the sensors 118 described hereinmay include one or more LIDAR sensors, radar sensors, sonar sensors, orother types of sensors and that such data could be integrated into orsupplement the data collection as described herein. Specifically, thesensors 118 of the vehicle system 104 collect additional environmentdata such as, for example, lane lines, nearby vehicles or obstacles, andthe like. The collected environment data may also be used to determine atarget path of the vehicle 100 to avoid departing from a specific laneor driving too close to other vehicles or obstacles.

The vehicle system 104 includes an adjusting mechanism 120 for adjustingthe coefficient of friction at the steering wheel 102 based on theenvironment data and location data of the vehicle 100 received from theother components of the vehicle system 104. The adjusting mechanism 120is communicatively coupled to the other components of the vehicle system104 via the communication path 112. Specifically, the adjustingmechanism 120 receives information from at least the network interfacehardware 114, the location sensor 116, and the one or more sensors 118,to determine whether the coefficient of friction at the steering wheel102 should be adjusted by actuating the adjusting mechanism 120corresponding to a deviation factor between the actual path the vehicle100 is traveling and the target path, or toward an obstacle. Inembodiments, the adjusting mechanism 120 may be configured to decrease acoefficient of friction at the steering wheel 102 when a deviationfactor between the actual path and the target path, or movement towardan obstacle exceeds a threshold deviation. Similarly, the adjustingmechanism 120 may be configured to increase the coefficient of frictionat the steering wheel 102 when the deviation factor does not exceed thethreshold deviation. Specific embodiments of the adjusting mechanism 120and operation thereof are discussed in more detail herein.

In embodiments, the vehicle system 104 includes the actuator 121,discussed herein, communicatively coupled to the other components of thevehicle system 104 via the communication path 112. The actuator 121 maybe provided in a steering column extending from the steering wheel 102to apply a torque in either a clockwise direction or a counterclockwisedirection to the steering wheel 102 in response to a signal includinginstruction from one or more of the components of the vehicle system104, as discussed herein.

In embodiments, the vehicle system 104 includes a control device 122communicatively coupled to the other components of the vehicle system104 via the communication path 112. The control device 122 includes oneor more controls for selecting or adjusting operating parameters of theadjusting mechanism 120. The one or more controls may be any suitableuser operating device such as, for example, buttons or the like. In someembodiments, the control device 122 includes a user interface, such as atouch screen user interface, for selecting or adjusting the operatingparameters of the adjusting mechanism 120. For example, the controldevice 122 may be operated to select in what situations the coefficientof friction at the steering wheel 102 will be increased, in whatsituations the coefficient of friction at the steering wheel 102 will bedecreased, to select a threshold deviation for determining a correctdriving condition and an incorrect driving condition, and to selectwhether the coefficient of friction at the entire steering wheel 102will be increased or decreased or only a portion thereof, for example,only adjusting those portions of the steering wheel 102 currently beinggripped by the driver. It should be appreciated that selections of theabove operating parameters may be assigned to a particular driverprofile such that actuation of the adjusting mechanism 120 isspecifically tailored to a particular driver of the vehicle 100. Assuch, a driver profile may be set as a default upon operating thevehicle 100 or selected from a plurality of driver profiles using thecontrol device 122.

Referring now to FIG. 2, an illustrative embodiment of the steeringwheel 102, depicted as steering wheel 102A, and an associated embodimentof the adjusting mechanism 120, depicted as adjusting mechanism 120A isillustrated. It should be appreciated that the steering wheel 102A andthe adjusting mechanism 120A are only one example of the steering wheel102 and the adjusting mechanism 120, respectively, that may be utilizedhaving an adjustable coefficient of friction. As such, the presentdisclosure is not limited to the steering wheels 102 and adjustingmechanisms 120 illustrated and discussed herein.

The steering wheel 102A includes the rim 103 and the adjusting mechanism120A for adjusting the coefficient of friction at the rim 103 of thesteering wheel 102A. In embodiments, the adjusting mechanism 120Aincludes an air flow device 202, such as a pneumatic pump, a hydraulicpump, or the like, in fluid communication with the rim 103. The air flowdevice 202 is configured to control a flow of fluid such as, forexample, air, to and from the rim 103 of the steering wheel 102, uponactuation of the adjusting mechanism 120A to adjust the coefficient offriction at the rim 103, as discussed herein. A plurality of holes 203are formed in the rim 103 such that the air may flow from the air flowdevice 202 through a cavity formed in the rim 103 and out through theholes 203 or, alternatively, drawn into the rim 103 through the holes203 by the air flow device 202. Accordingly, the adjusting mechanism120A may be operated in a first state in which the air flow device 202delivers air into the rim 103 and the air is dispensed out of the holes203 in the rim 103. The air flowing out of the holes 203 creates an aircushion surrounding the rim 103, which reduces the coefficient offriction between the rim 103 of the steering wheel 102A and the driver'shands. Alternatively, the adjusting mechanism 120A may be operated in asecond state in which the air flow device 202 draws air into the rim 103through the holes 203. The air drawn into the rim 103 through of theholes 203 creates an air vacuum at the rim 103, which increases thecoefficient of friction between the rim 103 of the steering wheel 102Aand the driver's hands. Additionally, the adjusting mechanism 120A maybe operated in a default state in which no air is delivered to thesteering wheel 102A from the air flow device 202 nor drawn into thesteering wheel 102A. This provides a coefficient of friction betweenthat exhibited when the adjusting mechanism 120A operates in the firststate and the second state.

Referring still to FIG. 2, the steering wheel 102A, as well as thesteering wheel 102 generally, may include one or more pressure sensors204 to detect an amount of force applied onto the steering wheel 102 bya driver when gripping the steering wheel 102A. The pressure sensors 204may be located on or within the rim 103 and are communicatively coupledto the vehicle system 104. Further, in embodiments, the rim 103 may bepartitioned into a plurality of sections I, II, III, IV separated bydividing walls 206 such that each section I-IV is not in direct fluidcommunication with any other section I-IV of the rim 103. Each sectionI-IV may include one or more pressure sensors 204. The air flow device202 of the adjusting mechanism 120A, when provided, may be in fluidcommunication with each of the sections I-IV and configured toselectively deliver/draw air to/from only certain sections I-IV of therim 103. For example, the air flow device 202 may be configured todeliver air to only certain sections of the steering wheel 102Aincluding pressure sensors 204 that detect a pressure in excess of athreshold pressure, which indicates that the driver is gripping thesteering wheel 102A at that particular section. Thus, in embodiments,only the section(s) of the steering wheel 102A currently being grippedby the driver are adjusted by the adjusting mechanism 120A. As anon-limiting example, if only the pressure sensor 204 positioned insection I detects a pressure being applied in excess of the thresholdpressure, such as when the driver is driving with one hand, the air flowdevice 202 may be operated to only deliver air to section I of the rim103 in any suitable manner, such as by controlling a specific air flowline in fluid communication with section I. As another non-limitingexample, if the pressure sensors 204 positioned in section I and sectionII both detect a pressure being applied in excess of the thresholdpressure, such as when the driver is driving with both hands, the airflow device 202 may be operated to only deliver air to section I andsection II of the rim 103. It should be appreciated that the disclosureof the rim 103 being separated into individual sections I-IV is notlimited to the specific embodiment of the steering wheel 102A discussedherein and may be equally applicable to other embodiments of thesteering wheel 102 generally.

Referring now to FIG. 3, another illustrative embodiment of the steeringwheel 102 is discussed herein and depicted as steering wheel 102B isshown. A partial view of the rim 103 of the steering wheel 102B is shownincluding another illustrative embodiment of the adjusting mechanism 120depicted as adjusting mechanism 120B. The adjusting mechanism 120Bincludes a plurality of rotation devices 300 spaced apart from oneanother and extending radially through an interior of the rim 103 of thesteering wheel 102B. Each rotation device 300 includes a rotatablesphere 302 protruding out of an opening 304 formed in the surface of therim 103 such that the sphere 302 makes contact with the hand of a driveron the rim 103. The spheres 302 are rotatable within the opening 304 atthe surface of the rim 103. As described herein, a resistance torotation of the spheres 320 is decreased when the adjusting mechanism120B is in a first state, thereby decreasing the coefficient of frictionat the rim 103, and the resistance to rotation of the spheres 302 isincreased when the adjusting mechanism 120B is in the second state,thereby increasing the coefficient of friction at the rim 103.Additionally, the adjusting mechanism 120B may be operated in a defaultstate in which resistance to rotation of the spheres 302 is between thatexhibited when in the first state and the second state and, thus, thecoefficient of friction is between that exhibited when in first stateand the second state.

In embodiments, each rotation device 300 further includes a threadedshaft 306 extending radially through the cavity of the rim 103, a plate308 threadedly attached to the shaft 306 and rotatably fixed relative tothe rim 103, and a spring 310 positioned between the plate 308 and thesphere 302. While three rotation devices 300 are illustrated at asection of the rim 103 in different states, it should be appreciatedthat, in embodiments, each of the rotation devices 300 or at least thoserotation devices 300 located within the same section of the rim 103 maybe operated at the same state simultaneously. However, for purposes ofillustrating the different states, a first rotation device 300 (right)is shown in the first state, a second rotation device 300 (left) isshown in the second state, and a third rotation device 300 (center) isshown in the default state.

With respect to the rotation device 300 (right) of the adjustingmechanism 120B operating in the first state, the shaft 306 of therotation device 300 rotates in a first direction such that the plate 308moves toward an inner radial surface of the rim 103 and away from thesphere 302, thereby providing the spring 310 with a length L1 andreducing a compression force of the spring 310 against the sphere 302.When the length L1 of the spring 310 is increased, i.e., the compressionforce of the spring 310 against the sphere 302 is reduced, which reducesthe resistance of the sphere 302 rotating within the opening 304 of therim 103, thereby decreasing the coefficient of friction at the rim 103.Alternatively, with respect to the rotation device 300 (left) of theadjusting mechanism 120B operating in the second state, the shaft 306rotates in an opposite second direction such that the plate 308 movestoward an outer radial surface of the rim 103 and toward the sphere 302,thereby providing the spring 310 with a length L3, which is less thanthe length L1 when in the first state. This increases the compressionforce of the spring 310 against the sphere 302. When the length L3 ofthe spring 310 is decreased, i.e., the compression force of the spring310 against the sphere 302 is increased, the spring 310 increases theresistance of the sphere 302 rotating within the opening 304 of the rim103, thereby increasing the coefficient of friction at the rim 103. Withrespect to the rotation device 300 (center) of the adjusting mechanism120B operating in the default state, the shaft 306 is rotated in eitherthe first direction or the second direction such that the plate 308 ispositioned along the shaft 306 to a location between that locationexhibited in the first state and the second state. In the default state,the spring 310 has a length L2, which is less than the length L1 of thespring 310 when in the first state and greater than the length L3 of thespring 310 when in the second state. This provides a compression forceof the spring 310 against the sphere 302 and a coefficient of frictionat the rim 103 between those exhibited when in the first state and thesecond state.

Referring now to FIG. 4, another illustrative embodiment of the steeringwheel 102 is depicted as steering wheel 102C. A partial view of the rim103 of the steering wheel 102C is shown including another illustrativeembodiment of the adjusting mechanism 120 depicted as adjustingmechanism 120C. As with the adjusting mechanism 120B, the adjustingmechanism 120C includes a plurality of rotation devices 400 spaced apartfrom one another and extending radially through the cavity of the rim103 of the steering wheel 102C. Each rotation device 400 includes arotatable sphere 402 protruding out of an opening 404 formed in thesurface of the rim 103 wherein a resistance to rotation of the spheres402 is decreased when the adjusting mechanism 120C is in the firststate, thereby decreasing the coefficient of friction at the rim 103,and the resistance to rotation of the spheres 402 is increased when theadjusting mechanism 120C is in the second state, thereby increasing thecoefficient of friction at the rim 103. The adjusting mechanism 120C maybe operated in the default state in which resistance to rotation of thespheres 402 is between that exhibited when in the first state and thesecond state and, thus, the coefficient of friction is between thatexhibited when in the first state and the second state.

In embodiments, each rotation device 400 further includes a housing 406defining a sealed cavity 408 between the sphere 402 and the housing 406,a magnetorheological (MR) fluid 410 provided within the cavity 408, andone or more coils 412 provided within the housing 406 configured togenerate a magnetic field to adjust a viscosity of themagnetorheological fluid 410. The sphere 402 rests within the cavity 408of the housing 406, which may be sealed around the sphere 402 by agasket or the like, such that an outer surface of the sphere 402 is incontact with the MR fluid 410. As referred to herein, “MR fluid” refersto a type of fluid that, when subjected to a magnetic field, greatlyincreases its viscosity to the point of becoming a viscoelastic solid.When the adjusting mechanism 120C is in the first state, the coils 412do not generate a magnetic field and, thus, the MR fluid 410 has a lowviscosity. The low viscosity of the MR fluid 410 contacting the sphere402 reduces resistance of the sphere 402 from rotating within theopening 404 of the rim 103, thereby decreasing the coefficient offriction at the rim 103. When the adjusting mechanism 120C is operatedin the second state, the coils 412 generate a first magnetic field and,thus, the viscosity of the MR fluid 410 is increased to be greater thanthe viscosity of the MR fluid 410 when in the first state. Thus, thegreater viscosity of the MR fluid 410 increases resistance of the sphere402 from rotating within the opening 404 of the rim 103, therebyincreasing the coefficient of friction at the rim 103. Further, when theadjusting mechanism 120C is in the default state, the coils 412 generatea second magnetic field less than the first magnetic field generated bythe coils 412 when in the second state such that the MR fluid 410 has aviscosity less than the viscosity of the MR fluid 410 when in the secondstate, but greater than the viscosity of the MR fluid 410 when in thefirst state. The sphere 402 contacting the MR fluid 410 having aviscosity between the viscosity of the MR fluid 410 in the first stateand the second state results in a resistance of the sphere 402 such thatthe coefficient of friction at the rim 103 is between that exhibitedwhen in the first state and the second state.

Referring now to FIG. 5, another illustrative embodiment of the steeringwheel 102 depicted as steering wheel 102D is shown. A partial view ofthe rim 103 of the steering wheel 102D is shown including anotherillustrative embodiment of the adjusting mechanism 120 depicted asadjusting mechanism 120D. The adjusting mechanism 120D includes aplurality of pistons 500 spaced apart from one another and extendingradially through the cavity of the rim 103 of the steering wheel 102D.Each piston 500 includes a cam shaft 502 rotatable within the rim 103about an axis of rotation 504, and a protrusion 506. As shown, the camshaft 502 has an elliptical geometry with the axis of rotation 504located proximate one end of the cam shaft 502, however, the presentdisclosure is not limited to this specific embodiment and othergeometries may be utilized. In embodiments, the protrusion 506 has arounded first end 508 that contacts the cam shaft 502, and an oppositesecond end 510 that is configured to protrude through an opening 512 ofthe rim 103. In embodiments, the second end 510 of the protrusion 506has a specific geometry, for example, squared off edges, that results inan increased coefficient of friction between the second end 510 of theprotrusion 506 and driver's hand when in contact with one another.However, the second end 510 of the protrusion 506 may be provided withany other suitable geometry or, in some embodiments, a frictionalmaterial such as, for example, an adhesive, to increase friction betweenthe protrusion 506 and the driver's hand. As discussed herein, as thecam shaft 502 rotates about the axis of rotation 504, the protrusion 506is pushed to extend through the opening 512 of the rim 103 to adjust theamount of displacement, i.e., extension, that the protrusion 506 extendsfrom the surface of the rim 103. In embodiments, each piston 500 alsoincludes a spring 514 having a first end 516 fixed to the protrusion 506and an opposite second end 518 fixed to the rim 103. The spring 514causes the protrusion 506 to retract back into the rim 103 as the camshaft 502 rotates about the axis of rotation 504 in a direction toreduce the pushing force against the protrusion 506.

While three pistons 500 are illustrated at a section of the rim 103 indifferent states, it should be appreciated that, in embodiments, each ofthe pistons 500 or at least those pistons 500 located within the samesection of the rim 103 may be operated at the same state simultaneously.However, for purposes of illustrating the different states, a firstpiston 500 (right) is shown in the first state, a second piston 500(left) is shown in the second state, and a third piston 500 (center) isshown in the default state.

With respect to the piston 500 (right) of the adjusting mechanism 120Doperating in the first state, the cam shaft 502 of the piston 500rotates about the axis of rotation 504 in a first direction such thatspring 514 retracts the protrusion 506 toward the inner radial surfaceof the rim 103. As shown, in the first state, the protrusion 506 doesnot extend through the opening 512 in the rim 103 and, thus, thecoefficient of friction at the rim 103 is reduced. Alternatively, withrespect to the piston 500 (left) of the adjusting mechanism 120Doperating in the second state, the cam shaft 502 rotates about the axisof rotation 504 in an opposite second direction such that the protrusion506 moves toward the outer radial surface of the rim 103, therebyextending the protrusion 506 through the opening 512 of the rim 103. Inthe second state, the protrusion 506 has a displacement D2 measured bythe amount of extension of the protrusion 506 from the surface of therim 103. With the increased displacement D2 of the protrusion 506, thecoefficient of friction at the rim 103 is increased. Even in embodimentsin which the protrusion 506 does extend through the opening 512 of therim 103 when in the first state, the displacement D2 of the protrusion506 when in the second state is greater than the displacement of theprotrusion 506 when in the first state. With respect to the piston 500(center) of the adjusting mechanism 120D operating in the default state,the cam shaft 502 is rotated about the axis of rotation 504 in eitherthe first direction or the second direction such that the protrusion 506extends through the opening 512 of the rim 103 to provide a displacementD1, which is less than the displacement D2 of the protrusion 506 when inthe second state and greater than a displacement of the protrusion 506,if any, when in the first state. The displacement D1 being less than thedisplacement D2 provides a coefficient of friction at the rim 103between that exhibited when in the first state and the second state.When transitioning from the second state to either the first state orthe default state, the spring 514 draws the protrusion 506 back into thecavity of the rim 103 to reduce the amount of displacement of theprotrusion 506.

Referring now to FIG. 6, another illustrative embodiment of the steeringwheel 102 is depicted as steering wheel 102E. A partial view of the rim103 of the steering wheel 102E is shown including another illustrativeembodiment of adjusting mechanism 120 depicted as adjusting mechanism120E. The adjusting mechanism 120E includes a plurality of rotationdevices 600 spaced apart from one another. Each rotation device 600includes a rotatable sphere 602 protruding out of an opening 604 formedin the surface of the rim 103 such that the sphere 602 makes contactwith the hand of a driver on the rim 103. Each sphere 602 includes aplurality of protrusions extending from a surface of the sphere 602 thatprovide varying coefficients of friction. In embodiments, a firstprotrusion 606 provides a first coefficient of friction utilized whenthe adjusting mechanism 120E is in the default state, and a secondprotrusion 608 provides a second coefficient of friction, which isgreater than the first coefficient of friction, utilized when theadjusting mechanism 120E is in the second state. In embodiments, eachrotation device 600 includes an actuating device (not shown), such as amotor or the like, for rotating and fixing the sphere 602 in one of aplurality of positions such that a corresponding one of the plurality ofprotrusions 606, 608 are exposed and in contact with the driver's hand.

While three rotation devices 600 are illustrated at a section of the rim103 in different states, it should be appreciated that, in embodiments,each of the rotation devices 600 or at least those rotation devices 600located within the same section of the rim 103 may be operated at thesame state simultaneously. However, for purposes of illustrating thedifferent states, a first rotation device 600 (right) is shown in thefirst state, a second rotation device 600 (left) is shown in the secondstate, and a third rotation device 600 (center) is shown in the defaultstate.

With respect to the rotation device 600 (right) of the adjustingmechanism 120E operating in the first state, the sphere 602 is rotatedinto a position such that none of the protrusions 606, 608 is orientedopposite the surface of the rim 103 to contact the driver's hand. Withthe sphere 602 rotated such that no protrusion is provided, thecoefficient of friction is reduced to provide the smallest coefficientof friction at the rim 103. Alternatively, with respect to the rotationdevice 600 (left) of the adjusting mechanism 120E operating in thesecond state, the sphere 602 is rotated such that the second protrusion608, illustrated as having a square geometry, is oriented opposite thesurface of the rim 103 to contact the driver's hand. The secondprotrusion 608 provides a coefficient of friction that is greater thanthat exhibited when in the first state in which no protrusion isprovided. With respect to the rotation device 600 (center) of theadjusting mechanism 120E operating in the default state, the sphere 602is rotated such that the first protrusion 606, illustrated as having atriangular geometry, is oriented opposite the surface of the rim 103 tocontact the driver's hand. The first protrusion 606 provides acoefficient of friction that is greater than that exhibited when in thefirst state, in which no protrusion is provided, but less than thatexhibited when in the second state, in which the square secondprotrusion 608 is provided. It should be appreciated that the variousgeometries of the protrusions 606, 608 disclosed herein are provided forillustrative purposes only and other geometries are within the scope ofthe disclosure. For example, the protrusions may have a semi-circulargeometry, a linear geometry, or may include a plurality of parallelfeatures. In addition, the protrusions may include frictional materialssuch as, for example, adhesives or the like.

Referring now to FIG. 7, a top view of the rim 103 of the steering wheel102E is shown including the adjusting mechanism 120E. However, ratherthan the protrusions having different geometries, the protrusions ofeach sphere 602 include a plurality of parallel features 700. Withrespect to the rotation device 600 (right) of the adjusting mechanism120E operating in the first state, the sphere 602 is rotated into aposition such that the parallel features 700 are oriented to extendalong a circumferential direction of the rim 103. This reduces thecoefficient of friction to provide the smallest coefficient of frictionat the rim 103. Alternatively, with respect to the rotation device 600(left) of the adjusting mechanism 120E operating in the second state,the sphere 602 is rotated into a position such that the parallelfeatures 700 are oriented to extend perpendicular to the circumferentialdirection of the rim 103. This increases the coefficient of friction tothat greater than the coefficient of friction exhibited when in thefirst state. With respect to the rotation device 600 (center) of theadjusting mechanism 120E operating in the default state, the sphere 601is rotated such that the parallel features 700 are oriented in adirection between that exhibited in the first state and the secondstate. This provides a coefficient of friction greater than thecoefficient of friction exhibited when in the first state, but less thanthat exhibited when in the second state.

Referring now to FIG. 8, another illustrative embodiment of the steeringwheel 102 is depicted as steering wheel 102F. A partial view of the rim103 of the steering wheel 102F is shown including another illustrativeembodiment of the adjusting mechanism 120 depicted as adjustingmechanism 120F. The adjusting mechanism 120F includes a power supply 800and a plurality of vibration devices 802 electrically connected to thepower supply 800. The vibration devices 802 are spaced apart from oneanother and positioned along the rim 103 of the steering wheel 102F. Thevibration devices 802 may be positioned on or within the rim 103. Inembodiments, the vibration device 802 are configured to provideultrasonic vibrations at the rim 103. Accordingly, each vibration device802 may include an ultrasonic transducer for converting energy from thepower supply 800 into ultrasonic vibration. More specifically, inembodiments, the ultrasonic transducer may be gas-driven, pneumatic, orliquid-driven such as, for example, a hydrodynamic oscillator. Theultrasonic transducer may also include an electromechanical transducerincluding a piezoelectric and/or a magnetostrictive device. Based on oneor more of the operating parameters of the power supply 800 and thevibration devices 802, the vibration devices 802 provide ultrasonicvibration to the rim 103 of the steering wheel 102F at a specificvibration frequency. The coefficient of friction at the rim 103 isdependent on the vibration frequency provided by the vibration devices802. For example, a lower vibration frequency provides a greatercoefficient of friction than the coefficient of friction provided by agreater vibration frequency.

When the adjusting mechanism 120F is in the first state, the vibrationdevices 802 are configured to operate at a first vibration frequency tovibrate the rim 103 of the steering wheel 102F. When the adjustingmechanism 120F is in the second state, the vibration devices 802 areconfigured to provide no ultrasonic vibration or, alternatively, operateat a second vibration frequency to vibrate the rim 103 of the steeringwheel 102F. The second vibration frequency is less than the firstvibration frequency such that the coefficient of friction at the rim 103when in the second state is greater than the coefficient of friction atthe rim 103 when in the first state. Additionally, when the adjustingmechanism 120 is in the default state, the vibration devices 802 areconfigured to operate at a third vibration frequency to vibrate the rim103 of the steering wheel 102F. The third vibration frequency is lessthan the first vibration frequency, but greater than the secondvibration frequency. Thus, the coefficient of friction at the rim 103when operating at the default state is greater than that exhibited whenin the first state, but less than that exhibited when in the secondstate.

Referring now to FIG. 9, another illustrative embodiment of the steeringwheel 102 is depicted as steering wheel 102G. A partial view of the rim103 of the steering wheel 102G is shown including another illustrativeembodiment of the adjusting mechanism 120 depicted as adjustingmechanism 120G. The adjusting mechanism 120G includes a plurality offiber devices 900. Each fiber device 900 includes a plurality of fiberarrays 902 and one or more corresponding electromagnetic coils 904. Thecoils 904 receive power from a separate power supply (not shown) togenerate a magnetic field directed toward a corresponding fiber array902. The plurality of fiber arrays 902 are arranged in a spaced apartrelation from one another and positioned on the outer radial surface ofthe rim 103 such that the driver's hand contacts the fiber arrays 902when operating the steering wheel 102G. Each fiber array 902 includes afirst plurality of fibers 906 extending in a first circumferentialdirection along the rim 103 and a second plurality of fibers 910extending in an opposite second circumferential direction along the rim103. The first plurality of fibers 908 and the second plurality offibers 910 are arranged to overlap one another and cross in oppositedirections, as shown. The plurality of fibers 908, 910 either include,are formed from, or are coated with a magnetic material configured torepel an externally applied magnetic field. In embodiments, the magneticmaterial is a diamagnetic material such as, for example, zinc, copper,silver, or the like. Alternatively, the magnetic material may beselected from one or more of iron, aluminum, nickel, and cobalt.

While three fiber devices 900 are illustrated at a section of the rim103 in different states, it should be appreciated that, in embodiments,each of the fiber devices 900 or at least those fiber devices 900located within the same section of the rim 103 may be operated at thesame state simultaneously. However, for purposes of illustrating thedifferent states, a first fiber device 900 (right) is shown in the firststate, a second fiber device 900 (left) is shown in the second state,and a third fiber device 900 (center) is shown in the default state.

With respect to the fiber device 900 (right) of the adjusting mechanism120G operating in the first state, the coil 904 does not generate amagnetic field and, thus, the fibers 906, 908 of the corresponding fiberarray 902 are not repelled away from the coil 904. As shown, the fiberarray 902 when in the first state has a height H1, indicating a totalamount of repulsion measured between the surface of the rim 103 and anopposite end of the fibers. With respect to the fiber device 900 (left)of the adjusting mechanism 120G operating in the second state, the coil904 generates a first magnetic field and, thus, the fibers 906, 908 ofthe corresponding fiber array 900 are repelled away from the coil 904.As shown, the fiber array 902 when in the second state has a height H3,which is greater than the height H1 when in the first state. It shouldbe appreciated that the increased height of the fiber array 902 providesan increased coefficient of friction at the rim 103. Thus, the adjustingmechanism 120G provides an increased coefficient of friction at the rim103 when operating in the second state as compared to the coefficient offriction at the rim 103 when operating in the first state. Additionally,with respect to the fiber device 900 (center) of the adjusting mechanism120G operating in the default state, the coil 904 generates a secondmagnetic field less than the first magnetic field and, thus, the fibers906, 908 of the corresponding fiber array 902 are repelled away from thecoil 904. As shown, the fiber array 902 when in the default state has aheight H2, which is greater than the height H1 when in the first state,but less than the height H3 when in the second state. Accordingly, thecoefficient of friction at the rim 103 when in the default state isgreater than the coefficient of friction exhibited when in the firststate, but less than the coefficient of friction exhibited when in thesecond state.

Referring now to FIG. 10, with reference to the vehicle 100 and vehiclesystem 104 in FIG. 1, the vehicle 100 is switching lanes by turning thesteering wheel 102 clockwise. In this example, another vehicle 1000 isin a right lane, and the action of the driver switching to the rightlane may not be desirable, i.e., an incorrect turning operation. In thiscase, the vehicle 100 may detect the vehicle 1000 in the right laneusing its one or more sensors 118, and the adjusting mechanism 120 maybe operated in the first state such that the coefficient of friction atthe rim 103 is reduced. Thereafter, the actuator 121 of the steeringwheel 102, discussed herein, may be operated to perform an interveningoperation and apply torque in the opposite, counterclockwise directionagainst the turning operation of the driver. In this embodiment,reducing the coefficient of friction at the steering wheel 102 loosenscontact with the hands of the driver, which permits the steering wheel102 to be operated (e.g., turning counterclockwise by the actuator 121)against the driver's intention. Reducing the coefficient of friction atthe rim 103 may allow the vehicle 100 to easily intervene the driver'scontrol without harming or distracting the driver.

Referring now to FIG. 11, the vehicle 100 is switching lanes by turningthe steering wheel 102 clockwise. In this example, no vehicle is in theright lane, and thus the driver of the vehicle 100 is making a properaction. In this case, the vehicle 100 may detect no vehicle in the rightlane using its one or more sensors 118, and the adjusting mechanism 120is operated in the second state, thereby increasing the coefficient offriction at the rim 103 to that greater than exhibited when in the firststate. As a result, when the actuator 121 is operated to perform anaugment operation and apply torque in the same, clockwise direction thefriction between the rim 103 and the grip of the driver is increased,thereby increasing control of the rim 103 and torque by the driver.While FIGS. 10 and 11 illustrate an example of the vehicle 100 switchinglanes, the features of increasing or decreasing the coefficient offriction at the rim 103 of the steering wheel 102 may be applied wherethe driver makes a turn at an intersection, makes a U-turn, and thelike.

Referring now to FIG. 12, the vehicle 100 is illustrated driving on aroadway 1200 and performing a turning operation. The roadway 1200includes a driving segment 1202 including a turn. However, it should beappreciated that the present disclosure is not limited to the specificroadway disclosed herein including a turn. For example, the presentdisclosure may be equally applicable when changing lanes, avoidingobstacles, and the like. A target path 1204 is illustrated indicating acorrect position of the vehicle 100 while traveling along the drivingsegment 1202 and performing the turning operation. As discussed herein,the target path 1204 may be determined by the environment data collectedby the network interface hardware 114, the location sensor 116, and theone or more sensors 118 of the vehicle system 104 shown in FIG. 1. Inaddition, various alternative positions of the vehicle 100 areillustrated in phantom traveling along the driving segment 1202.

As shown in FIG. 12, a first position P1 of the vehicle 100 isillustrated on the roadway 1200 prior to the vehicle 100 entering thedriving segment 1202 and initiating the turning operation. At the firstposition P1, the adjusting mechanism 120 is in the default stateproviding a coefficient of friction at the rim 103 between that which isexhibited when in the first state and the second state. As the vehicle100 continues along the roadway 1200, enters the driving segment 1202,and begins to perform the turning operation, as shown at a secondposition P2, an actual path 1206 of the vehicle 100 deviates from thetarget path 1204 by a deviation factor of A1. As a result, the adjustingmechanism 120 may be operated to the second state such that thecoefficient of friction at the rim 103 may be increased. In addition,the actuator 121 of the steering wheel 102 may be operated to perform anaugment operation and apply additional torque to the steering wheel 102to direct the vehicle 100 toward the target path 1204. By increasing thecoefficient of friction as the actuator 121 performs the augmentoperation, this helps the driver turn the steering wheel 102 clockwisefurther such that the vehicle 100 may follow the path 1204.Alternatively, in the embodiment illustrated, when in the position P3,the adjusting mechanism 120 is operated in the first state such that thecoefficient of friction at the rim 103 is reduced to be less than thecoefficient of friction in the default state and the second state. Inthis embodiment, by reducing the coefficient of friction at the rim 103,the friction between the grip of the driver and the rim 103 is reduced.Thus, when the actuator 121 performs an intervening operation to rotatethe steering wheel 102 in an opposite direction toward the target path1204, the driver provides less resistance against the turning of thesteering wheel 102.

In embodiments, the change in the coefficient of friction at the rim 103from the default state to the first state or the second state may bebased on a magnitude of the deviation factor. For example, although notshown, the change in the coefficient of friction at the rim 103 when thevehicle 100 is in the second position P2 may be greater than the changein the coefficient of friction at the rim 103 when the vehicle 100 is inthe third position P3 since the deviation factor A1 of the vehicle 100in the second position P2 is greater than the deviation factor A2 of thevehicle 100 in the third position P3. Thus, it should be appreciatedthat increased change of the coefficient of friction at the rim 103 fromthe default state indicates that the vehicle 100 is further from thetarget path 1204.

Further, in embodiments, it should be appreciated that the adjustingmechanism 120 will be operated in the first state when the deviationfactor exceeds a threshold deviation, thereby indicating that thevehicle 100 is in an incorrect position or performing an incorrectdriving operation. Once the driving operation is completed, theadjusting mechanism 120 returns to the default state, as shown in FIG.12 when the vehicle 100 is at a fourth position P4 and traveling alongthe target path 1204. It should be appreciated that these drivingparameters may be adjusted or selected by the driver using the controldevice 122 of the vehicle system 104, as shown in FIG. 1.

Referring now to FIG. 13, with reference to the vehicle 100 and thevehicle system 104 in FIG. 1, a method 1300 of operation for theadjusting mechanism 120 of the vehicle 100 is described in more detail.

Initially, at step 1302, the vehicle 100 system collects environmentdata such as, for example, navigation instructions, a position of thevehicle 100, other vehicles, vehicle, obstacles, such as a pedestrian,lane lines, and the like. The environment data may be collected by thenetwork interface hardware 114 receiving navigation instructions androad information, the location sensor 116 to determine a location of thevehicle 100, and the one or more sensors 118 to detect objects on aroadway relative to the vehicle 100. Based on the environment datacollected in step 1302, the vehicle system 104 determines a target pathat step 1304 during one or more driving segments of a roadway. Forexample, a particular driving segment may include a turn in the roadwayand the target path may be a path extending through a middle of the laneof the driving segment. At step 1306, the vehicle system 104 detects anactual path of the vehicle 100 based on the location sensor 116 and/orthe one or more sensors 118.

At step 1308, the vehicle system 104 determines whether a deviationfactor between the target path and the actual path of the vehicle 100exceeds a threshold deviation, e.g., when an incorrect driving operationor an obstacle is detected. As noted above, the threshold deviation maybe set by the driver of the vehicle 100 by operating the control device122. Thus, in instances in which the driver chooses to reduce thefrequency of operating the adjusting mechanism 120 to the first state,thereby reducing the coefficient of friction at the rim 103, the drivermay increase the threshold deviation. In doing so, the vehicle system104 may permit a larger range of deviation between the target path andthe actual path before operation the adjusting mechanism 120 to reducethe coefficient of friction at the rim 103 of the steering wheel 102.Alternatively, the driver may reduce the threshold deviation such thatthe adjusting mechanism 120 is operated to the first state morefrequently in response to the vehicle 100 deviating from the targetpath.

If the vehicle system 104 determines at step 1308 that the deviationfactor exceeds the threshold deviation, the method 1300 proceeds to step1310 and the adjusting mechanism 120 actuates to adjust the adjustingmechanism 120 to the first state, thereby reducing the coefficient offriction at the rim 103. Further, as discussed herein, it iscontemplated that the degree of adjustment from the default state to thefirst state may be based on the specific deviation factor. As such, asmaller deviation factor will result in a smaller degree of adjustmenttoward the first state as compared to a degree of adjustment toward thefirst state when exhibiting a larger deviation factor.

Alternatively, if the vehicle system 104 determines at step 1308 thatthe deviation factor does not exceed the threshold deviation during thedriving operation, the method 1300 proceeds to step 612 and theadjusting mechanism 120 is operated to the second state, therebyincreasing the coefficient of friction at the rim 103. It should beappreciated that, in embodiments, the adjusting mechanism 120 is onlyoperated to the first state or the second state if a correspondingintervening or augment operation is to be performed by the actuator 121.

In either instance, the method 1300 proceeds to step 1314 to determinewhether the driving segment, for example, the turning operation iscomplete or an obstacle is no longer present. If it is not determinedthat the driving segment is complete at step 1314, the method 1300returns to step 1308 to continue to monitor the deviation factor whilethe vehicle 100 is driving along the driving segment. Thus, even whenthe rim 103 is initially adjusted to the second state when the deviationfactor does not exceed the threshold deviation, i.e., the vehicle 100 iswithin range of the target path, the adjusting mechanism 120 may beadjusted toward the first state as the vehicle 100 begins to move awayfrom the target path and the deviation factor begins to exceed thethreshold deviation. Similarly, if the rim 103 is initially adjusted tothe first state to indicate that the deviation factor is greater thanthe threshold deviation, i.e., the vehicle 100 is outside of range ofthe target path, the adjusting mechanism 120 may be adjusted toward thesecond state as the vehicle 100 moves within range the target path andthe deviation factor becomes less than the threshold deviation.Alternatively, if it is determined at step 1314 that the driving segmentis concluded, for example, the vehicle 100 has completed the turningoperation, the adjusting mechanism 120 is operated back to the initialdefault state at step 1316 until the vehicle 100 approaches anotherdriving segment.

From the above, it is to be appreciated that defined herein are vehiclesystems, steering wheels, and methods for operating a steering wheel toadjust a coefficient of friction between a surface of the steering wheeland a driver's hands. In situations in which the driver is incorrectlysteering the vehicle, the coefficient of friction at the surface of thesteering wheel may be reduced such that the vehicle may perform anintervening operation and adjust a steering direction of the steeringwheel with reduced resistance from the driver.

While particular embodiments have been illustrated and described herein,it should be understood that various other changes and modifications maybe made without departing from the scope of the claimed subject matter.Moreover, although various aspects of the claimed subject matter havebeen described herein, such aspects need not be utilized in combination.It is therefore intended that the appended claims cover all such changesand modifications that are within the scope of the claimed subjectmatter.

What is claimed is:
 1. A steering wheel comprising: a rim; and anadjusting mechanism for adjusting a coefficient of friction between asurface of the rim and a driver's hand, the adjusting mechanismcomprising a plurality of rotation devices spaced apart from oneanother, each rotation device including a rotatable sphere protrudingout of the surface of the rim, wherein a resistance to rotation of therotatable spheres is decreased when the adjusting mechanism is in afirst state, the resistance to rotation of the rotatable spheres isincreased when the adjusting mechanism is in a second state.
 2. Thesteering wheel of claim 1, wherein each rotation device furthercomprises: a housing defining a sealed cavity between the rotatablesphere and the housing; and magnetorheological fluid provided within thesealed cavity.
 3. The steering wheel of claim 2, further comprising: oneor more coils configured to generate a magnetic field to adjust aviscosity of the magnetorheological fluid, wherein: the viscosity of themagnetorheological fluid is decreased when the adjusting mechanism is inthe first state, and the viscosity of the magnetorheological fluid isincreased when the adjusting mechanism is in the second state.
 4. Thesteering wheel of claim 1, wherein each rotation device furthercomprises: a shaft; a plate threadedly attached to the shaft; and aspring positioned between the plate and the rotatable sphere.
 5. Thesteering wheel of claim 4, wherein the plate is movable in a firstdirection toward the spring for decreasing the resistance and in anopposite second direction for increasing the resistance.
 6. The steeringwheel of claim 1, further comprising: one or more sensors; and acontroller configured to: determine whether a deviation factor between atarget driving path and an actual driving path of a vehicle during adriving segment exceeds a threshold deviation based on the one or moresensors; and operate the adjusting mechanism of the steering wheel ofthe vehicle to the first state in response to determining that thedeviation factor exceeds the threshold deviation, thereby decreasing thecoefficient of friction between the surface of the rim of the steeringwheel and the driver's hand.
 7. The steering wheel of claim 6, furthercomprising an actuator to apply a torque to the rim of the steeringwheel in response to determining that the deviation factor exceeds thethreshold deviation.
 8. The steering wheel of claim 6, wherein thecontroller is configured to: operate the adjusting mechanism of thesteering wheel of the vehicle to the second state in response todetermining that the deviation factor does not exceed the thresholddeviation, thereby increasing the coefficient of friction between thesurface of the rim of the steering wheel and the driver's hand; andoperate the adjusting mechanism of the steering wheel of the vehicle toa default state in which between the first state and the second state inresponse to determining that the driving segment is completed.
 9. Asteering wheel comprising: a rim; and an adjusting mechanism foradjusting a coefficient of friction between a surface of the rim and adriver's hand, the adjusting mechanism comprising a plurality ofrotation devices spaced apart from one another, each rotation devicecomprising: a rotatable sphere protruding out of the surface of the rim;a shaft; a plate threadedly attached to the shaft; and a springpositioned between the plate and the rotatable sphere, wherein the plateis movable in a first direction toward the spring for decreasing aresistance to rotation of the rotatable spheres and in an oppositesecond direction for increasing the resistance to rotation of therotatable spheres.
 10. The steering wheel of claim 9, wherein theresistance to rotation of the rotatable spheres is decreased when theadjusting mechanism is in a first state, the resistance to rotation ofthe rotatable spheres is increased when the adjusting mechanism is in asecond state.
 11. The steering wheel of claim 10, wherein the spring hasa first length when in the first state greater than a second length ofthe spring when in the second state.
 12. The steering wheel of claim 10,wherein the adjusting mechanism is positionable into a default state toprovide a resistance greater than the resistance to rotation when in thefirst state and less than the resistance to rotation when in the secondstate.
 13. The steering wheel of claim 9, further comprising: one ormore sensors; and a controller configured to: determine whether adeviation factor between a target driving path and an actual drivingpath of a vehicle during a driving segment exceeds a threshold deviationbased on the one or more sensors; and operate the adjusting mechanism ofthe steering wheel of the vehicle to a first state in response todetermining that the deviation factor exceeds the threshold deviation,thereby decreasing the coefficient of friction between the surface ofthe rim of the steering wheel and the driver's hand.
 14. The steeringwheel of claim 13, further comprising an actuator to apply a torque tothe rim of the steering wheel in response to determining that thedeviation factor exceeds the threshold deviation.
 15. The steering wheelof claim 13, wherein the controller is configured to: operate theadjusting mechanism of the steering wheel of the vehicle to a secondstate in response to determining that the deviation factor does notexceed the threshold deviation, thereby increasing the coefficient offriction between the surface of the rim of the steering wheel and thedriver's hand; and operate the adjusting mechanism of the steering wheelof the vehicle to a default state in which between the first state andthe second state in response to determining that the driving segment iscompleted.
 16. A steering wheel comprising: a rim; and an adjustingmechanism for adjusting a coefficient of friction between a surface ofthe rim and a driver's hand, the adjusting mechanism comprising aplurality of rotatable spheres devices protruding out of the surface ofthe rim spaced apart from one another, each rotatable sphere including aplurality of parallel features, wherein the plurality of parallelfeatures of each rotatable sphere is oriented in a first direction whenthe adjusting mechanism is in a first state, and wherein the pluralityof parallel features of each rotatable sphere is oriented in a seconddirection when the adjusting mechanism is in a second state.
 17. Thesteering wheel of claim 16, wherein the first direction extends along acircumferential direction of the rim of the steering wheel and thesecond direction is perpendicular to the first direction.
 18. Thesteering wheel of claim 16, wherein the coefficient of friction betweenthe surface of the rim and the driver's hand when in the first state isless than the coefficient of friction between the surface of the rim andthe driver's hand when in the second state.
 19. The steering wheel ofclaim 16, further comprising: one or more sensors; and a controllerconfigured to: determine whether a deviation factor between a targetdriving path and an actual driving path of a vehicle during a drivingsegment exceeds a threshold deviation based on the one or more sensors;and operate the adjusting mechanism of the steering wheel of the vehicleto the first state in response to determining that the deviation factorexceeds the threshold deviation, thereby decreasing the coefficient offriction between the surface of the rim of the steering wheel and thedriver's hand.
 20. The steering wheel of claim 19, further comprising anactuator to apply a torque to the rim of the steering wheel in responseto determining that the deviation factor exceeds the thresholddeviation.